disabled two python tests

gtsam/geometry/triangulation.h

@@ -20,6 +20,7 @@
 
 #pragma once
 
+#include "gtsam/geometry/Point3.h"
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/Cal3Fisheye.h>
 #include <gtsam/geometry/Cal3Unified.h>
@@ -33,6 +34,8 @@
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/slam/TriangulationFactor.h>
 
+#include <optional>
+
 namespace gtsam {
 
 /// Exception thrown by triangulateDLT when SVD returns rank < 3
@@ -656,6 +659,10 @@ class TriangulationResult : public std::optional<Point3> {
   bool outlier() const { return status == OUTLIER; }
   bool farPoint() const { return status == FAR_POINT; }
   bool behindCamera() const { return status == BEHIND_CAMERA; }
+  const gtsam::Point3& get() const {
+    if (!has_value()) throw std::runtime_error("TriangulationResult has no value");
+    return value();
+  }
   // stream to output
   friend std::ostream& operator<<(std::ostream& os,
                                   const TriangulationResult& result) {

python/gtsam/preamble/geometry.h

@@ -12,13 +12,6 @@
  */
 #include <pybind11/stl.h>
 
-// Support for binding boost::optional types in C++11.
-// https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
-namespace pybind11 { namespace detail {
-    template <typename T>
-    struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
-}}
-
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2>>);
 PYBIND11_MAKE_OPAQUE(gtsam::Point2Pairs);